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rmoss_gz_plugins package from rmoss_gazebo repo

rmoss_gz_base rmoss_gz_bridge rmoss_gz_cam rmoss_gz_plugins

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 1.0.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description RoboMaster OSS中的基础项目，为RoboMaster提供Gazebo仿真支持，主要提供Gazebo插件，相关机器人模型资源等。
Checkout URI https://github.com/robomaster-oss/rmoss_gazebo.git
VCS Type git
VCS Version humble
Last Updated 2024-06-30
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags simulator gazebo robomaster
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Some general plugins for RoboMaster Gazebo Simulator

Additional Links

No additional links.

Maintainers

  • Zhenpeng Ge

Authors

No additional authors.
rmoss_gz_plugins/README.md

rmoss_gz_plugins

1.简介

rmoss_gz_plugins: 提供Gazebo Plugins，为RoboMaster Gazebo仿真提供插件支持。

  • MecanumDrive: 麦克拉姆轮插件，实现底盘全向移动功能。
  • ProjectileShooter：子弹发射插件，实现射击功能。
  • LightBarController: 灯条控制器，可动态改变灯条发光颜色，支持none,red,blue,yellow几种模式。

2.使用说明

MecanumDrive2:

<plugin filename="MecanumDrive" name="ignition::gazebo::systems::MecanumDrive2">
    <chassis_link>chassis</chassis_link>
    <front_left_joint>front_left_wheel_joint</front_left_joint>
    <front_right_joint>front_right_wheel_joint</front_right_joint>
    <rear_left_joint>rear_left_wheel_joint</rear_left_joint>
    <rear_right_joint>rear_right_wheel_joint</rear_right_joint>
</plugin>

ProjectileShooter:

<plugin filename="ProjectileShooter" name="ignition::gazebo::systems::ProjectileShooter">
    <shooter_name>small_shooter</shooter_name>
    <shooter_link>speed_monitor</shooter_link>
    <shooter_offset>0.15 0 0 0 0 0</shooter_offset>
    <projectile_velocity>20</projectile_velocity>
    <projectile_num>10000</projectile_num>
    <projectile_uri>model://rm_fluorescent_projectile_17mm</projectile_uri>
</plugin>

LightBarController:

<plugin filename="LightBarController" name="ignition::gazebo::systems::LightBarController">
    <controller_name>color_controller</controller_name>
    <link_visual>armor_0/light_bar_visual</link_visual>
    <link_visual>armor_1/light_bar_visual</link_visual>
    <link_visual>armor_2/light_bar_visual</link_visual>
    <link_visual>armor_3/light_bar_visual</link_visual>
    <link_visual>light_indicator/light_bar_visual</link_visual>
    <link_visual>speed_monitor/light_bar_visual</link_visual>
    <initial_color>red</initial_color>
</plugin>
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
ament_lint_auto
ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

Name Deps
rmoss_gz_base
rmoss_gz_bridge
rmua19_gazebo_simulator

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged rmoss_gz_plugins at Robotics Stack Exchange

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